SampleConsensusModelPlane defines a model for 3D plane segmentation. More...
#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h>
Public Types |
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| using | PointCloud = typename SampleConsensusModel< Storage >::PointCloud |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | Indices = typename SampleConsensusModel< Storage >::Indices |
| using | IndicesPtr = typename SampleConsensusModel< Storage >::IndicesPtr |
| using | IndicesConstPtr = typename SampleConsensusModel< Storage >::IndicesConstPtr |
| using | Coefficients = typename SampleConsensusModel< Storage >::Coefficients |
| using | Hypotheses = typename SampleConsensusModel< Storage >::Hypotheses |
| using | Samples = typename SampleConsensusModel< Storage >::Samples |
| using | Ptr = shared_ptr< SampleConsensusModelPlane > |
| using | ConstPtr = shared_ptr< const SampleConsensusModelPlane > |
 Public Types inherited from pcl::cuda::SampleConsensusModel< Storage > |
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| using | PointCloud = PointCloudAOS< Storage > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | Ptr = shared_ptr< SampleConsensusModel > |
| using | ConstPtr = shared_ptr< const SampleConsensusModel > |
| using | Indices = typename Storage< int >::type |
| using | IndicesPtr = shared_ptr< typename Storage< int >::type > |
| using | IndicesConstPtr = shared_ptr< const typename Storage< int >::type > |
| using | Coefficients = typename Storage< float >::type |
| using | CoefficientsPtr = shared_ptr< Coefficients > |
| using | CoefficientsConstPtr = shared_ptr< const Coefficients > |
| using | Hypotheses = typename Storage< float4 >::type |
| using | Samples = typename Storage< int >::type |
Public Member Functions |
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| SampleConsensusModelPlane (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelPlane. More... |
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| void | getSamples (int &iterations, Indices &samples) |
| Get 3 random non-collinear points as data samples and return them as point indices. More... |
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| bool | computeModelCoefficients (const Indices &samples, Coefficients &model_coefficients) |
| Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them in model_coefficients. More... |
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| bool | generateModelHypotheses (Hypotheses &h, int max_iterations) |
| virtual bool | generateModelHypotheses (Hypotheses &h, Samples &s, int max_iterations) |
| int | selectWithinDistance (const Coefficients &model_coefficients, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil) |
| Select all the points which respect the given model coefficients as inliers. More... |
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| int | selectWithinDistance (const Hypotheses &h, int idx, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil) |
| int | selectWithinDistance (Hypotheses &h, int idx, float threshold, IndicesPtr &inliers_stencil, float3 ¢roid) |
| int | countWithinDistance (const Coefficients &model_coefficients, float threshold) |
| int | countWithinDistance (const Hypotheses &h, int idx, float threshold) |
| Public Member Functions inherited from pcl::cuda::SampleConsensusModel< Storage > |
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| SampleConsensusModel (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModel. More... |
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| virtual | ~SampleConsensusModel () |
| Destructor for base SampleConsensusModel. More... |
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| virtual bool | isSampleInlier (IndicesPtr &inliers_stencil, Samples &samples, unsigned int &i) |
| int | deleteIndices (const IndicesPtr &indices_stencil) |
| int | deleteIndices (const Hypotheses &h, int idx, IndicesPtr &inliers, const IndicesPtr &inliers_delete) |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| IndicesPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| void | setRadiusLimits (float min_radius, float max_radius) |
| Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... |
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| void | getRadiusLimits (float &min_radius, float &max_radius) |
| Get the minimum and maximum allowable radius limits for the model as set by the user. More... |
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| shared_ptr< typename Storage< float4 >::type > | getNormals () |
| void | setNormals (shared_ptr< typename Storage< float4 >::type > normals) |
Static Public Attributes |
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| const static int | MAX_ITERATIONS_COLLINEAR = 1000 |
Additional Inherited Members |
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| Protected Attributes inherited from pcl::cuda::SampleConsensusModel< Storage > |
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| PointCloudConstPtr | input_ |
| A boost shared pointer to the point cloud data array. More... |
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| shared_ptr< typename Storage< float4 >::type > | normals_ |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| IndicesPtr | indices_stencil_ |
| A pointer to the vector of point indices (stencil) to use. More... |
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| unsigned int | nr_indices_in_stencil_ |
| number of indices left in indices_stencil_ More... |
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| float | radius_min_ |
| The minimum and maximum radius limits for the model. More... |
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| float | radius_max_ |
| thrust::minstd_rand | rngl_ |
| Linear-Congruent random number generator engine. More... |
|
Detailed Description
template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModelPlane< Storage >
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition at line 80 of file sac_model_plane.h.
Member Typedef Documentation
Coefficients
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::Coefficients = typename SampleConsensusModel<Storage>::Coefficients |
Definition at line 95 of file sac_model_plane.h.
ConstPtr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::ConstPtr = shared_ptr<const SampleConsensusModelPlane> |
Definition at line 100 of file sac_model_plane.h.
Hypotheses
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::Hypotheses = typename SampleConsensusModel<Storage>::Hypotheses |
Definition at line 96 of file sac_model_plane.h.
Indices
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::Indices = typename SampleConsensusModel<Storage>::Indices |
Definition at line 91 of file sac_model_plane.h.
IndicesConstPtr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesConstPtr = typename SampleConsensusModel<Storage>::IndicesConstPtr |
Definition at line 93 of file sac_model_plane.h.
IndicesPtr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesPtr = typename SampleConsensusModel<Storage>::IndicesPtr |
Definition at line 92 of file sac_model_plane.h.
PointCloud
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloud = typename SampleConsensusModel<Storage>::PointCloud |
Definition at line 87 of file sac_model_plane.h.
PointCloudConstPtr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 89 of file sac_model_plane.h.
PointCloudPtr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 88 of file sac_model_plane.h.
Ptr
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::Ptr = shared_ptr<SampleConsensusModelPlane> |
Definition at line 99 of file sac_model_plane.h.
Samples
template<template< typename > class Storage>
| using pcl::cuda::SampleConsensusModelPlane< Storage >::Samples = typename SampleConsensusModel<Storage>::Samples |
Definition at line 97 of file sac_model_plane.h.
Constructor & Destructor Documentation
SampleConsensusModelPlane()
template<template< typename > class Storage>
| pcl::cuda::SampleConsensusModelPlane< Storage >::SampleConsensusModelPlane | ( | const PointCloudConstPtr & | cloud | ) |
Constructor for base SampleConsensusModelPlane.
- Parameters
-
cloud the input point cloud dataset
Member Function Documentation
computeModelCoefficients()
template<template< typename > class Storage>
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virtual |
Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them in model_coefficients.
The plane coefficients are: a, b, c, d (ax+by+cz+d=0)
- Parameters
-
samples the point indices found as possible good candidates for creating a valid model model_coefficients the resultant model coefficients
Implements pcl::cuda::SampleConsensusModel< Storage >.
countWithinDistance() [1/2]
template<template< typename > class Storage>
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virtual |
Implements pcl::cuda::SampleConsensusModel< Storage >.
countWithinDistance() [2/2]
template<template< typename > class Storage>
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virtual |
Implements pcl::cuda::SampleConsensusModel< Storage >.
generateModelHypotheses() [1/2]
template<template< typename > class Storage>
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virtual |
generateModelHypotheses() [2/2]
template<template< typename > class Storage>
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inlinevirtual |
Implements pcl::cuda::SampleConsensusModel< Storage >.
Definition at line 134 of file sac_model_plane.h.
References pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses().
getSamples()
template<template< typename > class Storage>
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virtual |
Get 3 random non-collinear points as data samples and return them as point indices.
- Parameters
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iterations the internal number of iterations used by SAC methods samples the resultant model samples
- Note
- assumes unique points!
Implements pcl::cuda::SampleConsensusModel< Storage >.
selectWithinDistance() [1/3]
template<template< typename > class Storage>
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virtual |
Select all the points which respect the given model coefficients as inliers.
- Parameters
-
model_coefficients the coefficients of a plane model that we need to compute distances to threshold a maximum admissible distance threshold for determining the inliers from the outliers inliers the resultant model inliers inliers_stencil
Implements pcl::cuda::SampleConsensusModel< Storage >.
selectWithinDistance() [2/3]
template<template< typename > class Storage>
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virtual |
Implements pcl::cuda::SampleConsensusModel< Storage >.
selectWithinDistance() [3/3]
template<template< typename > class Storage>
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virtual |
Implements pcl::cuda::SampleConsensusModel< Storage >.
Member Data Documentation
MAX_ITERATIONS_COLLINEAR
template<template< typename > class Storage>
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static |
Definition at line 221 of file sac_model_plane.h.
The documentation for this class was generated from the following file:
- /__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1cuda_1_1_sample_consensus_model_plane.html
